Totally removed OpenCV dependency #272
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set. Removed unuseful code comments
adujardin
requested changes
Sep 13, 2018
| #pragma parallel for | ||
| for (int x = 0; x < depth.getWidth(); x++) { | ||
| sl::float1 value; | ||
| depth.getValue<sl::float1>(x, y, &value); |
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getValue is not very efficient and shouldn't be used in a loop. It's better to iterate over a pointer.
Is there a data reorganization? If not it could be converted to an iteration over 1 loop
| sl::float1 value; | ||
| disparityZEDMat.getValue<sl::float1>(x, y, &value); | ||
| value *= -1.0f; | ||
| disparityZEDMat.setValue<sl::float1>(x, y, value); |
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Similarly, if possible this should be a 1 loop iteration over the pointer
| confMapFloat, sensor_msgs::image_encodings::TYPE_32FC1, | ||
| confidenceOptFrameId, t)); | ||
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| //confMapFloat = sl_tools::toCVMat(confMapZEDMat); |
Improved Disparity conversion
adujardin
approved these changes
Sep 13, 2018
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